DYNAMIC RESEARCH, INC. 355 Van Ness Avenue, STE 200 Torrance, California 90501

Transcription

1 126-DRI SAFETY COMPLIANCE TESTING FOR FMVSS 126 Electronic Stability Control Systems Nissan Motor Co., Ltd Nissan Altima NHTSA No. CA5206 DYNAMIC RESEARCH, INC. 355 Van Ness Avenue, STE 200 Torrance, California March 24, 2010 Final Report Prepared Under Contract No.: DTNH22-08-D U. S. DEPARTMENT OF TRANSPORTATION National Highway Traffic Safety Administration Enforcement Office of Vehicle Safety Compliance 1200 New Jersey Avenue, SE West Building, 4 th Floor (NVS-221) Washington, DC 20590

2 Prepared for the Department of Transportation, National Highway Traffic Safety Administration, under Contract No. DTNH22-08-D This publication is distributed by the U.S. Department of Transportation, National Highway Traffic Safety Administration, in the interest of information exchange. The opinions, findings, and conclusions expressed in this publication are those of the author(s) and not necessarily those of the Department of Transportation or the National Highway Traffic Safety Administration. The United States Government assumes no liability for its contents or use thereof. If trade or manufacturer's names or products are mentioned, it is only because they are considered essential to the object of the publication and should not be construed as an endorsement. The United States Government does not endorse products of manufacturers. Prepared By: Approved By: Approval Date: March 24, 2010 _ FINAL REPORT ACCEPTANCE BY OVSC: Accepted By: Acceptance Date: ii

3 1. Report No. 2. Government Accession No. 3. Recipient's Catalog No. 126-DRI Title and Subtitle Final Report of FMVSS 126 Compliance Testing of 2010 Nissan Altima passenger car, NHTSA No. CA Author(s) John F. Lenkeit, Technical Director Brian Kebschull, Principal Engineer 9. Performing Organization Name and Address Dynamic Research, Inc. 355 Van Ness Ave, STE 200 Torrance, CA Sponsoring Agency Name and Address U.S. Department of Transportation National Highway Traffic Safety Administration Enforcement Office of Vehicle Safety Compliance 1200 New Jersey Avenue, SE, West Building, 4th Floor (NVS-221) Washington, D.C Supplementary Notes 5. Report Date March 24, Performing Organization Code DRI 8. Performing Organization Report No. DRI-TM Work Unit No. 11. Contract or Grant No. DTNH22-08-D Type of Report and Period Covered Final Report December 7, 2009 to March 24, Sponsoring Agency Code NVS Abstract A test was conducted on a 2010 Nissan Altima, NHTSA No. CA5206, in accordance with the specifications of the Office of Vehicle Safety Compliance Test Procedure No. TP for the determination of FMVSS 126 compliance. Test failures identified were as follows: None 17. Key Words Compliance Testing Safety Engineering FMVSS Distribution Statement Copies of this report are available from: NHTSA Technical Information Services (TIS) (NPO 411) 1200 New Jersey Avenue, SE Washington, D.C tis@nhtsa.dot.gov FAX: (202) Security Classif. (of this report) Unclassified 20. Security Classif. (of this page) Unclassified 21. No. of Pages iii

4 SECTION TABLE OF CONTENTS PAGE 1.0 PURPOSE OF COMPLIANCE TEST TEST PROCEDURE AND DISCUSSION OF RESULTS TEST DATA TEST EQUIPMENT LIST AND CALIBRATION INFORMATION PHOTOGRAPHS DATA PLOTS OTHER DOCUMENTATION Owner s Manual Pages Vehicle Arrival Condition Report Vehicle Completion Condition Report Sine with Dwell Test Results Slowly Increasing Steer Test Results Inertial Sensing System Location Coordinates 57 iv

5 1.0 PURPOSE OF COMPLIANCE TEST The purpose of this test is to determine if the test vehicle, a 2010 Nissan Altima, meets the minimum equipment and performance requirements stated in Federal Motor Vehicle Safety Standard (FMVSS) 126, "Electronic Stability Control Systems." 2.0 TEST PROCEDURE AND DISCUSSION OF RESULTS Testing of the 2010 Nissan Altima was conducted at Dynamic Research, Inc (DRI) in accordance with NHTSA TP , dated November 19, The vehicle was inspected to ensure it was equipped with an ESC system that: Augments vehicle directional stability by applying and adjusting brake torques individually at each wheel to induce a correcting yaw moment to a vehicle; Is computer controlled with the computer using a closed-loop algorithm to limit vehicle oversteer and to limit vehicle understeer; Has a means to determine the vehicle's yaw rate and to estimate its side slip or side slip derivative with respect to time; Has a means to monitor driver steering inputs; Has an algorithm to determine the need, and a means to modify engine torque, as necessary, to assist the driver in maintaining control of the vehicle; and Is operational over the full speed range of the vehicle (except at vehicle speeds less than 20 km/h (12.4 mph), when being driven in reverse, or during system initialization). The vehicle was subjected to a 0.7 Hz sine with dwell steering maneuver to ensure that it would meet the stability and responsiveness requirements of the standard as follows: At 1.0 second after completion of a required sine with dwell steering input, the yaw rate of the vehicle must not exceed 35 percent of the first peak value of yaw rate recorded after the steering wheel angle changes sign (between first and second peaks during the same test run). 1

6 2.0 TEST PROCEDURE AND DISCUSSION OF RESULTS (CONTINUED) At 1.75 seconds after completion of a required sine with dwell steering input, the yaw rate of the vehicle must not exceed 20 percent of the first peak value of yaw rate recorded after the steering wheel angle changes sign (between first and second peaks during the same test run). The lateral displacement of the vehicle center of gravity with respect to its initial straight path must be at least 1.83 m (6 feet) (for vehicles with a GVWR of 3,500kg (7,716 lb) or less) when computed 1.07 seconds after the Beginning of Steer (BOS) at the specified steering wheel angles. System malfunction simulations were executed to verify vehicle could identify and indicate a malfunction. The vehicle's ESC System appears to meet the performance and equipment requirements as required by FMVSS 126. The test results are summarized on the following summary sheet. 2

7 2.0 TEST PROCEDURE AND DISCUSSION OF RESULTS (CONTD) Data Summary Sheet (Page 1 of 2) Vehicle: 2010 Nissan Altima NHTSA No. CA5206 VIN: 1N4AL2AP3AN Vehicle Type: Passenger Car Manufacture Date: 9/09 Laboratory: Dynamic Research, Inc. REQUIREMENTS: ESC Equipment and Operational Characteristics (Data Sheet 2) The vehicle is to be equipped with an ESC system that meets the equipment and operational characteristics requirements. (S126, S5.1, S5.6) ESC Malfunction Telltale (Data Sheet 3) Vehicle is equipped with a telltale that indicates one or more ESC system malfunctions. (S126, S5.3) ESC Off and other System Controls and Telltale (Data Sheet 3,4) Vehicle is equipped with an ESC off telltale indicating the vehicle has been put into a mode that renders the ESC system unable to satisfy the performance requirements of the standard, if such a mode exists. (S5.5.1) If provided, off control and other system controls as well as the ESC off telltale meets the operational requirements (S126, S5.4, S5.4.1,S5.4.2, S5.5.4, and S5.5.9) PASS/FAIL PASS PASS PASS PASS 3

8 2.0 TEST PROCEDURE AND DISCUSSION OF RESULTS (CONTD) Data Summary Sheet (Page 2 of 2) REQUIREMENTS: Vehicle Lateral Stability (Data Sheet 8) Yaw Rate Ratio at 1 second after COS is less than 35% of peak value. (S126, S5.2.1) Yaw Rate Ratio at 1.75 seconds after COS is less than 20% of peak value. (S126, S5.2.2) Vehicle Responsiveness (Data Sheet 8) Lateral displacement at 1.07 seconds after BOS is at least 1.83 m (6 feet) for vehicles with a GVWR of 3,500kg (7,716 lb) or less, and 1.52 m (5 feet) for vehicles with a GVWR greater than 3,500 Kg (7,716 lb). (S126, S5.2.3) ESC Malfunction Warning (Data Sheet 9) Warning is provided to driver after malfunction occurrence. (S126. S5.3) Malfunction telltale stayed illuminated as long as malfunction existed and must extinguish after malfunction was corrected. (S126, S5.3.7) PASS/FAIL PASS PASS PASS PASS PASS 4

9 3.0 TEST DATA Data Sheet 1 (Page 1 of 2) TEST VEHICLE INSPECTION AND TEST PREPARATION Vehicle: 2010 Nissan Altima Passenger Car NHTSA No. CA5206 Data sheet completion VIN 1N4AL2AP3AN Manufacture Date: 9/09 1/5/2010 GVWR (kg): 1941 Front GAWR (kg): 1017 Rear GAWR (kg): Seating Positions Front: 2 Mid: Rear: 3 Odometer reading at time of inspection: 13 miles (20.8 km) DESIGNATED TIRE SIZE(S) FROM VEHICLE LABELING: Front Axle: P215/60 R16 Rear Axle: P215/60 R16 INSTALLED TIRE SIZE(S) ON VEHICLE (from tire sidewall) Front Axle Rear Axle Tire Manufacturer: Continental Continental Tire Model: ContiProContact ContiProContact Tire Size: P215/60 R16 P215/60 R16 TIN Left Front: A3X8 3WH 3609 Right Front: A3X8 3WH 3609 Left Rear: A3X8 3WH 3609 Right Rear: A3X8 3WH 3609 Are installed tire sizes same as labeled tire sizes? Yes If no, contact COTR for further guidance 993 DRIVE CONFIGURATION(S):(mark all that apply) X Two Wheel Drive (2WD) X Front Wheel Drive Rear Wheel Drive All Wheel Drive (AWD) Four Wheel Drive Automatic - differential no locked full time (4WD Automatic) Four Wheel Drive (High Gear Locked Differential 4WD HGLD) Four Wheel Drive Low Gear (4WD Low) Other (Describe) 5

10 3.0 TEST DATA (CONTD) Data Sheet 1 (Page 2 of 2) TEST VEHICLE INSPECTION AND TEST PREPARATION DRIVE CONFIGURATIONS AND MODES: (ex. default, performance, off) (For each of the vehicle's drive configurations identify available operating modes) Drive Configuration: Mode: Drive Configuration: Mode: Drive Configuration: FWD Standard Mode: VEHICLE STABILITY SYSTEMS (Check applicable technologies): List other systems: X ESC X Traction Control Roll Stability Control Active Suspension X Electronic Throttle Control Active Steering ABS REMARKS: RECORDED BY: P Broen DATE RECORDED: 1/5/2010 APPROVED BY: J Lenkeit DATE APPROVED: 1/12/2010 6

11 3.0 TEST DATA (CONTD) Data Sheet 2 (Page 1 of 2) ESC SYSTEM HARDWARE AND OPERATIONAL CHARACTERISTICS Vehicle: 2010 Nissan Altima Passenger Car NHTSA No CA5206 Data Sheet Completion Date: 1/28/2010 ESC SYSTEM IDENTIFICATION Manufacturer/Model Bosch ABS/TCS/VDC Unit Bosch ESP8 ESC SYSTEM HARDWARE (Check applicable hardware) X Electronic Control Unit X Wheel Speed Sensors X Yaw Rate Sensor List other Components: Stoplamp switch ESC OPERATIONAL CHARACTERISTICS X Hydraulic Control Unit X Steering Angle Sensor X Lateral Acceleration Sensor System is capable of generating brake torque at each wheel List and describe Components: ESC controller, master cylinder, individual wheel brake systems, hydraulic modulator, System is capable of determining yaw rate List and describe Components: Yaw rate sensor X X Yes (Pass) No (Fail) Yes (Pass) No (Fail) System is capable of monitoring driver steering input List and describe Components: Steer angle sensor X Yes (Pass) No (Fail) System is capable of estimating side slip or side slip derivative List and describe Components: Observer module block of control system estimates side slip based on yaw rate, steer angle, vehicle speed, lateral acceleration and other vehicle conditions. X Yes (Pass) No (Fail) 7

12 3.0 TEST DATA (CONTD) Data Sheet 2 (Page 2 of 2) ESC SYSTEM HARDWARE AND OPERATIONAL CHARACTERISTICS ESC OPERATIONAL CHARACTERISTICS (continued) System is capable of modifying engine torque during ESC activation. Method used to modify torque: The engine controller module receives the engine torque command from the ESC controller unit and modifies the engine torque by varying the throttle opening and fuel delivery. X Yes (Pass) No (Fail) System is capable of activation at speeds of 20 km/h (12.4 mph) and higher Speed system becomes active: 2.8 km/h X Yes (Pass) No (Fail) System is capable of activation during the following driving phases: acceleration during activation of ABS or braking traction control coasting X Yes (Pass) No (Fail) Driving phases during which ESC is capable of activation: ESC is capable of activation under most critical conditions in the forward driving direction - at full (ABS-control) and partial braking, coasting, drive and acceleration (including TCS), engine drag, gear shift and transients from drive to drag Vehicle manufacturer submitted documentation explaining how the ESC mitigates understeer X Yes (Pass) No (Fail) DATA INDICATES COMPLIANCE: X Yes (Pass) No (Fail) REMARKS: RECORDED BY: J Lenkeit DATE RECORDED: 1/28/2010 APPROVED BY: B Kebschull DATE APPROVED: 1/28/2010 8

13 3.0 TEST DATA (CONTD) Data Sheet 3 (Page 1 of 2) ESC MALFUNCTION AND OFF TELLTALES Vehicle: 2010 Nissan Altima Passenger Car NHTSA No. CA5206 Data sheet completion date: 1/5/2010 ESC Malfunction Telltale Vehicle is equipped with malfunction telltale? Yes Telltale Location: Inside tachometer on left side of instrument cluster (See Figure 5.6) Telltale Color: Amber Telltale symbol or abbreviation used or ESC Vehicle uses this symbol Vehicle uses this abbreviation X Neither symbol or abbreviation is used If different than identified above, make note of any message, symbol or abbreviation used. "VDC OFF" "SLIP ; both are continuously illuminated to indicate failure Is telltale part of a common space? No Is telltale also used to indicate activation of the ESC system? Yes If yes explain telltale operation during ESC activation: "SLIP" indicator blinks 9

14 3.0 TEST DATA (CONTD) "ESC OFF" Telltale (if provided) Data Sheet 3 (Page 2 of 2) ESC MALFUNCTION AND OFF TELLTALES Vehicle is equipped with "ESC OFF" telltale? Yes Is "ESC Off" telltale combined with "ESC Malfunction" telltale utilizing a two part telltale? No Telltale Location: Inside tachometer on left side of instrument cluster (See Figure 5.6) Telltale Color: Amber Telltale symbol or abbreviation used or ESC OFF X Vehicle uses this symbol Vehicle uses this abbreviation Neither symbol or abbreviation is used If different than identified above, make note of any message, symbol or abbreviation used. "VDC OFF"; amber color Is telltale part of a common space? No DATA INDICATES COMPLIANCE (Vehicle is compliant if equipped with a malfunction telltale) Remarks: RECORDED BY: P Broen DATE RECORDED: 1/5/2010 APPROVED BY: B Kebschull DATE APPROVED: 1/6/

15 3.0 TEST DATA (CONTD) Data Sheet 4 (Page 1 of 3) ESC AND ANCILLARY SYSTEM CONTROLS Vehicle: 2010 Nissan Altima Passenger Car NHTSA No. CA5206 Data sheet completion date: 1/6/2010 ESC OFF Controls Identification and Operational Check: Is the vehicle equipped with a control or controls whose purpose is to deactivate the ESC system or place the ESC system in a mode or modes that may no longer satisfy the performance requirements of the standard? X Yes No Type of control or controls provided? (mark all that apply) X Dedicated ESC Off Control Multi-functional control with an ESC Off mode Other (describe) Identify each control location, labeling and selectable modes. First Control: Location On dashboard, left of steering wheel (Figure 5.7) Labeling VDC OFF Modes ESC off/on Second Control: Location Labeling Modes Identify standard or default drive configuration FWD Standard Verify standard or default drive configuration selected X Yes No Does the ESC Off telltale illuminate upon activation of the dedicated ESC off control or selection of the ESC Off mode on the multi-function control? X Yes No (Fail) Does the ESC Off telltale extinguish when the ignition is cycled from on ( Run ) to Lock or Off and then back again to the On ( Run ) position? If no, describe how the Off control functions X Yes No (Fail) 11

16 3.0 TEST DATA (CONTD) Data Sheet 4 (Page 2 of 3) ESC AND ANCILLARY SYSTEM CONTROLS If a multi-function control is provided, cycle through each mode setting on the control and record which modes illuminate the ESC Off telltale. Also, for those modes that illuminate the ESC Off telltale identify if the telltale extinguishes upon cycling the ignition system. TCS off (ESC on) Control Mode "ESC Off" telltale illuminates upon activation of control? (Yes/No) ESC and TCS off Yes Yes No "ESC Off" telltale extinguishes upon cycling ignition? (Yes/No) For each mode that illuminates the ESC Off telltale, did the telltale extinguish when the ignition was cycled from On ( Run ) to Lock or Off and then back again to the On ( Run ) position? X Yes No Other System Controls that have an ancillary effect on ESC Operation: Is the vehicle equipped with any ancillary controls that upon activation may deactivate the ESC system or place the ESC system in a mode or modes that may no longer satisfy the performance requirements of the standard? Yes X No Ancillary Control: System Control Description Labeling Ancillary Control: System Control Description Labeling Ancillary Control: System Control Description Labeling 12

17 3.0 TEST DATA (CONTD) Data Sheet 4 (Page 3 of 3) ESC AND ANCILLARY SYSTEM CONTROLS Activate each control listed above and record whether the control illuminates the ESC Off telltale. Also, record warnings or messages provided regarding the ESC system. Ancillary Control None Control Activates ESC Off Telltale? (Yes/No) Warnings or Messages Provided For those controls that illuminate the ESC Off telltale above identify if the ESC Off telltale extinguishes upon cycling the ignition system. Ancillary Control ESC Off telltale extinguishes upon cycling ignition? (Yes/No) For each control that illuminates the ESC Off telltale, did the telltale extinguish when the ignition is cycled from On ( Run ) to Lock or Off and then back again to the On ( Run ) position? If activating the control places the vehicle into a low-range four-wheel drive configuration designed for low-speed, off road driving, the ESC system may remain turned off after the ignition has been cycled off and then back on and therefore the ESC Off telltale may not extinguish. X Yes No (Fail) DATA INDICATES COMPLIANCE: PASS Remarks: RECORDED BY: B Kebschull DATE RECORDED: 1/6/2010 APPROVED BY: J Lenkeit DATE APPROVED: 1/10/

18 3.0 TEST DATA (CONTD) Data Sheet 5 (Page 1 of 3) TEST TRACK AND VEHICLE DATA Vehicle: 2010 Nissan Altima Passenger Car NHTSA No. CA5206 Data sheet completion date: 1/6/2010 Test Track Requirements: Test surface slope (0-1%): 0.5% Peak Friction Coefficient (at least 0.9) 0.96 Test track data meets requirements: Yes If no, explain: Full Fluid Levels: Fuel Yes Other Yes Coolant Yes (specify) washer, power steering, brakes Tire Pressures: Required; Front Axle 220 KPA Rear Axle 220 KPA Actual; LF 220 KPA RF 220 KPA LR 220 KPA RR 220 KPA Vehicle Dimensions: Front Track Width cm Wheelbase cm Rear Track Width cm Vehicle Weight Ratings: GAWR Front 1017 KG GAWR Rear 993 KG Unloaded Vehicle Weight (UVW): Front axle KG Left Front KG Right Front KG Rear axle KG Left Rear KG Right Rear KG Total UVW KG Baseline Weight and Outrigger Selection (only for MPVs, Trucks, Buses) Calculated baseline weight (UVW + 73kg) KG Outrigger size required ("Standard" or "Heavy") none Standard - Baseline weight under 2772 kg (6000 lb) Heavy - Baseline weight equal to or greater than 2772 kg (6000 lb) 14

19 3.0 TEST DATA (CONTD) Data Sheet 5 (Page 2 of 3) TEST TRACK AND VEHICLE DATA UVW with Outriggers: (only for MPVs, Trucks, Buses) Front axle N/A KG Left Front N/A KG Right Front N/A KG Rear axle N/A KG Left Rear N/A KG Right Rear N/A KG Total UVW with outriggers N/A KG Loaded Vehicle Weight w/driver and Instrumentation (no Ballast) Front axle KG Left Front 483 KG Right Front KG Rear axle KG Left Rear KG Right Rear KG Vehicle Weight KG Ballast Required = [Total UVW with Outriggers (if applicable)] +168 KG - [Loaded Weight w/driver and Instrumentation)] = KG +168 KG KG = 19.5 KG Total Loaded Vehicle Weight w/driver and Instrumentation and Ballast Front axle KG Left Front KG Right Front KG Rear axle KG Left Rear KG Right Rear KG Total UVW KG 15

20 3.0 TEST DATA (CONTD) Data Sheet 5 (Page 3 of 3) TEST TRACK AND VEHICLE DATA Center of Gravity and Inertial Sensing System Location at Loaded Vehicle Condition: x-distance (longitudinal) y-distance (lateral) z-distance (vertical) Point of reference is the front axle centerline. (Positive from front axle toward rear of vehicle.) Point of reference is the vehicle centerline. (Positive from the center toward the right.) Point of reference is the ground plane. (Positive from the ground up.) Locations: Center of Gravity Inertial Sensing System x-distance 43.3 in cm 66.9 in cm y-distance -0.7 in -1.7 cm -0.6 in -1.5 cm z-distance 21.9 in 55.5 cm 17.0 in 43.1 cm Roof Height in cm Distance between ultrasonic sensors 87.8 in cm Remarks: RECORDED BY: B Kebschull DATE RECORDED: 1/6/2010 APPROVED BY: J Lenkeit DATE APPROVED: 1/10/

21 3.0 TEST DATA (CONTD) Data Sheet 6 (Page 1 of 3) BRAKE AND TIRE CONDITIONING Vehicle: 2010 Nissan Altima Passenger Car NHTSA No. CA5206 Measured tire pressure: LF 220 KPA RF 220 KPA LR 220 KPA RR 220 KPA Wind Speed 1.5 m/s (10 m/sec (22 mph) max for passenger cars; 5m/sec (11 mph) max for MPVs and trucks) Ambient Temperature (7 C (45 F) - 40 C (104 F)) 7.1 C Brake Conditioning Time: 8:40:00 AM Date: 1/6/ km/h (35 mph) Brake Stops Number of stops executed (10 required) 10 Stops Observed deceleration rate range (.5g target) g 72 km/h (45 mph) Brake Stops Number of stops executed (3 required) Number of stops ABS activated (3 required) Observed deceleration rate range 3 Stops 3 Stops g 72 km/h (45 mph) Brake Cool Down Period Duration of cool down period (5 minutes min.) 5 Minutes 17

22 3.0 TEST DATA (CONTD) Data Sheet 6 (Page 2 of 3) BRAKE AND TIRE CONDITIONING Tire Conditioning series No. 1 Time: 8:55:00 AM Date: 1/6/2010 Measured cold tire pressure LF 235 KPA RF 241 KPA LR 230 KPA RR 230 KPA Wind Speed 1.9 m/s (10 m/sec (22 mph) max for passenger cars; 5m/sec (11 mph) max for MPVs and trucks) Ambient Temperature (7 C (45 F) - 40 C (104 F)) 7.2 C Test Run 30 meter (100 ft) Diameter Circle Maneuver Steering Direction Target Lateral Acceleration (g) Observed Lateral Acceleration (g) Observed Vehicle Speed (Km/h) 1-3 Clockwise Counterclockwise Hz Cycle Sinusoidal Steering Maneuver to Determine Steering Wheel Angle for g Lateral Acceleration Test Run Data File Vehicle Speed Km/h(mph) Steering Wheel Angle (degrees) Target Peak Lateral Acceleration (g) Observed Peak Lateral Acceleration (g) ± 2 (35 ± 1) ± 2 (35 ± 1) ± 2 (35 ± 1) ± 2 (35 ± 1) Steering wheel angle that corresponds to a peak g lateral acceleration: 80 degrees Test Run Data File 10-1 Hz Cycle Sinusoidal Steering Maneuver Vehicle Speed Km/h (mph) Steering Wheel Angle (degrees) Target Peak Lateral Acceleration (g) Observed Peak Lateral Acceleration (g) ± 2 (35 ± 1) 80 (cycles 1-10) (cycles 1-9) ± 2 (35 ± 1) 160 (cycle10)* NA 0.85 * The steering wheel angle used for cycle 10 should be twice the angle used for cycles

23 3.0 TEST DATA (CONTD) Data Sheet 6 (Page 3 of 3) BRAKE AND TIRE CONDITIONING Tire Conditioning series No. 2 Time: 11:22:00 AM Date: 1/6/2010 Measured cold tire pressure LF 236 KPA RF 243 KPA LR 230 KPA RR 229 KPA Wind Speed 0.5 m/s (10 m/sec (22 mph) max for passenger cars; 5m/sec (11 mph) max for MPVs and trucks) Ambient Temperature (7 C (45 F) - 40 C (104 F)) 7.9 C 30 meter (100 ft) Diameter Circle Maneuver Test Run Steering Direction Target Lateral Acceleration (g) Observed Lateral Acceleration (g) Observed Vehicle Speed (Km/h) 1-3 Clockwise Counterclockwise Steering wheel angle that corresponds to a peak g lateral acceleration: 80 Degrees 10-1 Hz Cycle Sinusoidal Steering Maneuver Test Run Data File Vehicle Speed Km/h (mph) Steering Wheel Angle (degrees) Target Peak Lateral Acceleration (g) Observed Peak Lateral Acceleration (g) ± 2 (35 ± 1) 80 (cycles 1-10) (cycles 1-9) ± 2 (35 ± 1) 160 (cycle 10)* NA 0.85 * The steering wheel angle used for cycle 10 should be twice the angle used for cycles 1-9 Remarks: RECORDED BY: B. Kebschull DATE RECORDED: 1/6/2010 APPROVED BY: J Lenkeit DATE APPROVED: 1/10/

24 3.0 TEST DATA (CONTD) Data Sheet 7 (Page 1 of 2) SLOWLY INCREASING STEER (SIS) MANEUVER Vehicle: 2010 Nissan Altima Passenger Car NHTSA No. CA5206 Measured tire pressure: LF 234 KPA RF 239 KPA LR 227 KPA RR 226 KPA Wind Speed 0.6 m/s (10 m/sec (22 mph) max for passenger cars; 5m/sec (11 mph) max for MPVs and trucks) Ambient Temperature (7 C (45 F) - 40 C (104 F)) 7.2 C Selected drive configuration FWD Selected Mode: Normal Preliminary Left Steer Maneuver: Lateral Acceleration measured at 30 degrees steering wheel angle a y,30degrees = 0.3 g Assuming a linear relationship the following ratio should be used to calculate the steering wheel angle at 0.55g: 30 degrees δ SIS = a 0.55 g y,30 degrees δsis = δsis = Steering Wheel Angle at Corrected 0.3g Lateral Acceleration: Time Clock (5 min max between runs) Steering Wheel Angle to nearest 0.1 (degrees) 55.0 degrees (@.55g) 60 degrees (rounded) Maneuver Initial Steer Direction Data Run Good/NG 1 Left 9:57:00 AM Good 2 Left 10:02:00 AM Good 3 Left 10:06:00 AM Good 4 Left 5 Left 1 Right 10:11:00 AM Good 2 Right 10:16:00 AM Good 3 Right 10:21:00 AM 14 NG 4 Right 11:04:00 AM Good 5 Right 20

25 3.0 TEST DATA (CONTD) Data Sheet 7 (Page 2 of 2) SLOWLY INCREASING STEER (SIS) MANEUVER Average Overall Steering Wheel Angle: δ 0.3 g, overall = ( δ 0.3 g, left (1) + δ 0.3 g, left (2) + δ 0.3 g, left (3) + δ 0.3 g, right (1) + δ 0.3 g, right (2) + δ 0.3 g, right (3) ) / 6 δ 0.3 g, overall = 29.9 degrees [to nearest 0.1 degree] Remarks: RECORDED BY: B Kebschull DATE RECORDED: 1/6/2010 APPROVED BY: J Lenkeit DATE APPROVED: 1/10/

26 Maneuver # 3.0 TEST DATA (CONTD) Data Sheet 8 (Page 1 of 3) VEHICLE LATERAL STABILITY AND RESPONSIVENESS Vehicle: 2010 Nissan Altima Passenger Car : NHTSA No. CA5206 Data sheet completion date:1/6/2010 Tire conditioning completed X Yes No ESC system is enabled X Yes No On track calibration checks have been completed X Yes No On track static data file for each sensor obtained X Yes No Selected Drive Configuration: Selected Mode: Lateral Stability Test Series No. 1 Counterclockwise Initial Steer Direction Clock Time Commanded Steering Wheel Angle¹ Standard FWD Overall steering wheel angle (δ0.3 g, overall ) 29.9 degrees Yaw Rates (degrees/sec) YRR at 1.0 sec after COS [< 35%] YRR at 1.75 sec after COS [< 20%] ( min max Scalar Angle between ψ ψ 1.0sec ψ 1.75 sec (* δ0.3 g) (degrees) Peak % Pass/Fail % Pass/Fail runs) 1 11:42 AM PASS -1.0 PASS 2 11:47 AM PASS -0.3 PASS 3 11:51 AM PASS -1.1 PASS 4 11:54 AM PASS -0.8 PASS 5 11:57 AM PASS 0.1 PASS 6 12:00 PM PASS -0.4 PASS 7 12:04 PM PASS 0.1 PASS 8 12: 06 PM PASS 0.0 PASS 9 12: 09 PM PASS -0.1 PASS 10 12: 12 PM PASS -0.1 PASS 11 12: 15 PM PASS -1.3 PASS 12 12:18 PM PASS 0.0 PASS 13 12:21 PM PASS -0.3 PASS 14 12:25 PM PASS -0.6 PASS 15 12:28 PM PASS -0.2 PASS 16 12:32 PM PASS -0.3 PASS 17 12:36 PM PASS -0.5 PASS 1. Maneuver execution should continue until a steering wheel angle magnitude factor of 6.5*δ0.3 g, overall or 270 degrees is utilized, whichever is greater provided the calculated magnitude of 6.5*δ0.3 g, overall is less than or equal to 300 degrees. If 6.5*δ0.3 g, overall is less than 270 degrees maneuver execution should continue by increasing the steering wheel angle magnitude by multiples of 0.5*δ0.3 g, overall without exceeding the 270 degree steering wheel angle. 22

27 Maneuver # 3.0 TEST DATA (CONTD) DATA SHEET 8 (2 of 3) VEHICLE LATERAL STABILITY AND RESPONSIVENESS LATERAL STABILITY TEST SERIES NO. 2 Clockwise Initial Steer Direction Clock Time ( min max between runs) Commanded Steering Wheel Angle¹ Scalar (* δ0.3 g) Angle (degrees) Yaw Rates (degrees/sec) ψ ψ 1.0sec Peak ψ 1.75 sec YRR at 1.0 sec after COS [< 35%] YRR at 1.75 sec after COS [< 20%] % Pass/Fail % Pass/Fail 1 12:40 PM PASS 0.7 PASS 2 12:46 PM PASS -0.1 PASS 3 12:50 PM PASS -0.5 PASS 4 12:52 PM PASS -0.3 PASS 5 12:55 PM PASS -0.5 PASS 6 12:59 PM PASS -0.6 PASS 7 1:02 PM PASS -0.4 PASS 8 1:05 PM PASS 0.2 PASS 9 1:08 PM PASS -0.3 PASS 10 1:11 PM PASS -0.3 PASS 11 1:14 PM PASS -0.2 PASS 12 1:18 PM PASS 0.0 PASS 13 1:21 PM PASS -0.1 PASS 14 2:24 PM PASS 0.0 PASS 15 2:27 PM PASS 0.0 PASS 16 2:30 PM PASS -0.2 PASS 17 2:33 PM PASS 0.1 PASS 1. Maneuver execution should continue until a steering wheel angle magnitude factor of 6.5*δ0.3 g, overall or 270 degrees is utilized, whichever is greater provided the calculated 6.5*δ0.3 g, overall is less than or equal to 300 degrees. If 6.5*δ0.3 g, overall is less than 270 degrees maneuver execution should continue by increasing the steering wheel angle magnitude by multiples of 0.5*δ0.3 g, overall without exceeding the 270 degree steering wheel angle. During execution of the sine with dwell maneuvers were any of the following events observed? Rim-to-pavement contact Yes X No Tire debeading Yes X No Loss of pavement contact of vehicle tires Yes X No Did the test driver experience any vehicle Yes loss of control or spinout? If Yes explain the event and consult with the COTR. X No 23

28 3.0 TEST DATA (CONTD) DATA SHEET 8 (3 of 3) VEHICLE LATERAL STABILITY AND RESPONSIVENESS Responsiveness Lateral Displacement Maneuver # Initial Steer Direction Commanded Steering Wheel Angle (5.0*δ0.3 g, overall or greater) Scalar Angle *δ0.3 g (degrees) Calculated Lateral Displacement¹ Distance Pass/Fail (m) 8 Counter Clockwise PASS 9 Counter Clockwise PASS 10 Counter Clockwise PASS 11 Counter Clockwise PASS 12 Counter Clockwise PASS 13 Counter Clockwise PASS 14 Counter Clockwise PASS 15 Counter Clockwise PASS 16 Counter Clockwise PASS 17 Counter Clockwise PASS 25 Clockwise PASS 26 Clockwise PASS 27 Clockwise PASS 28 Clockwise PASS 29 Clockwise PASS 30 Clockwise PASS 31 Clockwise PASS 32 Clockwise PASS 33 Clockwise PASS 34 Clockwise PASS 1. Lateral displacement should be > 1.83 m (6 ft) for vehicle with a GVWR of 3,500 kg (7,716 lb) or less; and > 1.52 m (5 ft) for vehicles with GVWR greater than 3,500 kg (7,716 lb). DATA INDICATES COMPLIANCE: PASS FAIL Remarks: RECORDED BY: B Kebschull DATE RECORDED: 1/6/2010 APPROVED BY: J Lenkeit DATE APPROVED: 1/10/

29 3.0 TEST DATA (CONTD) Data Sheet 9 (Page 1 of 2) MALFUNCTION WARNING TESTS Vehicle: 2010 Nissan Altima Passenger Car : NHTSA No. CA5206 Data Sheet Completion Date: 1/6/2010 TEST 1 MALFUNCTION SIMULATION: Describe method of malfunction simulation Disconnected steering angle sensor MALFUNCTION TELLTALE ILLUMINATION: Telltale illuminates and remains illuminated after ignition locking system is activated and if necessary the vehicle is driven at least 2 minutes as specified in section B. X Yes No Time for telltale to illuminate after ignition system is activated and vehicle speed of 48 ± 8 km/h (30 ± 5mph) is reached. 0 Seconds (must be within 2 minutes) X Pass Fail ESC SYSTEM RESTORATION Telltale extinguishes after ignition locking system is activated and if necessary the vehicle is driven at least 2 minutes as specified in section B X Yes No Time for telltale to extinguish after ignition system is activated and vehicle speed of 48 ± 8 km/h (30 ± 5mph) is reached. 0 Seconds (must be within 2 minutes) X Pass Fail TEST 1 DATA INDICATES COMPLIANCE: PASS Remarks: Both "VDF OFF" and "SLIP" telltales illuminate immediately after malfunction is simulated and ignition is activated. After system is restored, both telltales extinguish immediately when ignition is activated RECORDED BY: B Kebschull DATE RECORDED: 1/6/2010 APPROVED BY: J Lenkeit DATE APPROVED 1/10/

30 3.0 TEST DATA (CONTD) Data Sheet 9 (Page 2 of 2) MALFUNCTION WARNING TESTS Vehicle: 2010 Nissan Altima Passenger Car : NHTSA No. CA5206 Data Sheet Completion Date: 1/6/2010 TEST 2 MALFUNCTION SIMULATION: Describe method of malfunction simulation Disconnected LF wheel speed sensor MALFUNCTION TELLTALE ILLUMINATION: Telltale illuminates and remains illuminated after ignition locking system is activated and if necessary the vehicle is driven at least 2 minutes as specified in section B. X Yes No Time for telltale to illuminate after ignition system is activated and vehicle speed of 48 ± 8 km/h (30 ± 5mph) is reached. 0 Seconds (must be within 2 minutes) X Pass Fail ESC SYSTEM RESTORATION Telltale extinguishes after ignition locking system is activated and if necessary the vehicle is driven at least 2 minutes as specified in section B X Yes No Time for telltale to extinguish after ignition system is activated and vehicle speed of 48 ± 8 km/h (30 ± 5mph) is reached. 0 Seconds (must be within 2 minutes) X Pass Fail TEST 2 DATA INDICATES COMPLIANCE: PASS Remarks: "VDF OFF", "SLIP" and "ABS" telltales illuminate immediately after malfunction is simulated and ignition is activated. After system is restored, both telltales extinguish immediately when ignition is activated RECORDED BY: B Kebschull DATE RECORDED: 1/6/2010 APPROVED BY: J Lenkeit DATE APPROVED 1/10/

31 4.0 TEST EQUIPMENT LIST AND CALIBRATION INFORMATION (1 OF 2) TABLE 1. TEST INSTRUMENTATION Type Output Range Resolution Accuracy Specifics Serial Number Calibration Tire Pressure Gauge Vehicle Tire Pressure psi kpa 1 psi 6.89 kpa 0.5 psi 3.45 kpa Ashcroft D1005PS By: Innocal Date:1/15/09 Due: 1/15/10 Platform Scales Vehicle Total, Wheel, and Axle Load 8000 lb 35.6 kn 0.5 lb 2.2 N ±1.0% of applied load Intercomp Model SWII By: Intercomp Date:1/29/09 Due: 1/29/10 Automated Steering Machine with Steering Angle Encoder Multi-Axis Inertial Sensing System Radar Speed Sensor and Dashboard Display Ultrasonic Distance Measuring System Handwheel Angle ±800 deg 0.25 deg ±0.25 deg Longitudinal, Lateral, and Vertical Acceleration Roll, Yaw, and Pitch Rate Vehicle Speed Left and Right Side Vehicle Height Accelerometers: ±2 g Angular Rate Sensors: ±100 deg/s mph km/h 5-24 inches mm Acceleromet ers: 10 ug Angular Rate Sensors: deg/ s mph.014 km/h 0.01 inches.254 mm * Speed sensor was checked and verified on the test track prior to test Acceleromete rs: 0.05% of full range Angular Rate Sensors: 0.05% of full range ±0.25% of full scale ±0.25% of maximum distance Heitz Automotive Testing Model: Sprint 3 BEI Technologies Model: MotionPAK MP-1 A-DAT Corp. Radar Model: DRS- 6 Display Model: RD- 2 Massa Products Corporation Model: M- 5000/ DOT-NHTSA D2646 DOT-NHTSA D2647 By: Heitz Date:1/29/09_ Due: 1/29/10 By:Systron Donner Date:11/18/09 Due: 11/18/10 By: ADAT Date:1/5/09 Due:1/5/10* By: DRI Date:3/16/09 Due: 3/16/10 By: DRI Date:3/16/09 Due: 3/16/10 27

32 4.0 TEST EQUIPMENT LIST AND CALIBRATION INFORMATION (2 OF 2) TABLE 1. TEST INSTRUMENTATION (CONTD) Type Output Range Resolution Accuracy Specifics Serial Number Calibration Data Acquisition System [Includes amplification, antialiasing, and analog to digital conversion.] Record Time; Velocity; Distance; Lateral, Longitudinal, and Vertical Accelerations; Roll, Yaw, and Pitch Rates; Steering Wheel Angle. Sufficient to meet or exceed individual sensors 200 Hz Sufficient to meet or exceed individual sensors SoMat edaq ECPU processor SoMat High level Board EHLS MSHLB MSHLS By: Somat Date:1/13/09 Due: 1/14/10 By: Somat Date:1/14/09 Due: 1/15/10 Load Cell Coordinate Measurement Machine Vehicle Brake Pedal Force Inertial Sensing System Coordinates lb kn 0-8 ft m 1 lb 4.44 N ±.0020 in. ±.051 mm ±0.05% of full scale ±.0020 in. ±.051 mm (Single point articulation accuracy) Lebow Faro Arm Fusion 767 UO By: Davis Date:2/3/09 Due: 2/3/10 By: Faro Date: 8/18/09 Due: 8/18/10 Outriggers No output. Safety Item. N/A N/A N/A DRI manufactured Aluminum meeting the weight and MOI specifications of Docket N/A N/A 28

33 5.0 PHOTOGRAPHS (29 of 14) 2010 Nissan Altima FMVSS No. 126 NHTSA NO.: CA5206 February 2010 Figure 5.1. Front View of Test Vehicle as Delivered 29

34 5.0 PHOTOGRAPHS (2 of 14) 2010 Nissan Altima FMVSS No. 126 NHTSA NO.: CA5206 February 2010 Figure 5.2. Rear View of Test Vehicle as Delivered 30

35 5.0 PHOTOGRAPHS (3 of 14) 2010 Nissan Altima FMVSS No. 126 NHTSA NO.: CA5206 February 2010 Figure 5.3. Vehicle Certification Label 31

36 5.0 PHOTOGRAPHS (4 of 14) 2010 Nissan Altima FMVSS No. 126 NHTSA NO.: CA5206 February 2010 Figure 5.4. Vehicle Placard 32

37 5.0 PHOTOGRAPHS (5 of 14) 2010 Nissan Altima FMVSS No. 126 NHTSA NO.: CA5206 February 2010 Figure 5.5. Window Sticker (Monroney Label) 33

38 5.0 PHOTOGRAPHS (6 of 14) 2010 Nissan Altima FMVSS No. 126 NHTSA NO.: CA5206 February 2010 Figure 5.6. Telltale for ESC Malfunction and ESC Off 34

39 5.0 PHOTOGRAPHS (7 of 14) 2010 Nissan Altima FMVSS No. 126 NHTSA NO.: CA5206 February 2010 Figure 5.7. ESC Off Control Switch 35

40 5.0 PHOTOGRAPHS (8 of 14) 2010 Nissan Altima FMVSS No. 126 NHTSA NO.: CA5206 February 2010 Figure 5.8. Front View of Vehicle as Tested 36

41 5.0 PHOTOGRAPHS (9 of 14) 2010 Nissan Altima FMVSS No. 126 NHTSA NO.: CA5206 February 2010 Figure 5.9. Rear View of Vehicle as Tested 37

42 5.0 PHOTOGRAPHS (10 of 14) 2010 Nissan Altima FMVSS No. 126 NHTSA NO.: CA5206 February 2010 Figure Ultrasonic Height Sensor Mounted on Left side of Vehicle for Determining Body Roll Angle 38

43 5.0 PHOTOGRAPHS (11 of 14) 2010 Nissan Altima FMVSS No. 126 NHTSA NO.: CA5206 February 2010 Figure Rear Bumper Mounted Speed Sensor 39

44 5.0 PHOTOGRAPHS (12 of 14) 2010 Nissan Altima FMVSS No. 126 NHTSA NO.: CA5206 February 2010 Figure Steering Controller and Data Acquisition Computer 40

45 5.0 PHOTOGRAPHS (13 of 14) 2010 Nissan Altima FMVSS No. 126 NHTSA NO.: CA5206 February 2010 Figure Inertial Measurement Unit Mounted in Vehicle 41

46 5.0 PHOTOGRAPHS (14 of 14) 2010 Nissan Altima FMVSS No. 126 NHTSA NO.: CA5206 February 2010 Figure Brake Pedal Load Cell 42

47 6.0 DATA PLOTS (1 of 4) Figure 6.1. Steering Wheel Angle, Yaw Rate and Lateral Displacement for L-R Series 43

48 6.0 DATA PLOTS (2 of 4) Figure 6.2. Steering Wheel Angle, Yaw Rate and Lateral Displacement for R-L Series 44

49 6.0 DATA PLOTS (3 of 4) Figure 6.3. Steering Wheel Angle, Lateral Acceleration and Longitudinal Acceleration for L-R Series 45

50 6.0 DATA PLOTS (4 of 4) Figure 6.4. Steering Wheel Angle, Lateral Acceleration and Longitudinal Acceleration for R-L Series 46

51 7.0 OTHER DOCUMENTATION 7.1 OWNER S MANUAL PAGES 7.2 VEHICLE ARRIVAL CONDITION REPORT 7.3 VEHICLE COMPLETION CONDITION REPORT 7.4 SINE WITH DWELL TEST RESULTS 7.5 SLOWLY INCREASING STEER TEST RESULTS 7.6 INERTIAL SENSING SYSTEM LOCATION COORDINATES 47

52 7.1 OWNER S MANUAL PAGES 48

53 49

54 50

55 51

56 7.2 VEHICLE ARRIVAL CONDITION REPORT CONTRACT NO.: DTNH22-08-D DATE: 12/7/2009 From: Competitive Vehicle Services Purpose Initial Receipt Received via Transfer To: Dynamic Research, Inc Present Vehicle Vehicle VIN: 1N4AL2AP3AN NHTSA NO.: CA5206 Model Year: 2010 Odometer Reading: 13 Miles Make Nissan Body Style: Passenger Car Model: Altima Body Color: Black Manufacture Date: 9/09 Dealer: Competitive Vehicle Services GVWR (kg/lb) 1941/4279 Price: Leased All options listed on the "Window Sticker" are present on the test vehicle Tires and wheel rims are new and the same as listed There are no dents or other interior or exterior flaws The vehicle has been properly prepared and is in running condition The glove box contains an owner s manual, warranty document, consumer information, and extra set of keys Proper fuel filler cap is supplied on the test vehicle Place vehicle in storage area Inspect the vehicle s interior and exterior, including all windows, seats, doors, etc., to confirm that each system is complete and functional per the manufacturer s specifications. Any damage, misadjustment, or other unusual condition that could influence the test program or test results shall be recorded. Report any abnormal condition to the NHTSA COTR before beginning any test. NOTES: RECORDED BY: J Lenkeit DATE RECORDED: 12/7/2009 APPROVED BY: P Broen DATE APPROVED: 12/7/

57 7.3 VEHICLE COMPLETION CONDITION REPORT CONTRACT NO.: DTNH22-08-D DATE: 1/14/2010 Vehicle VIN: 1N4AL2AP3AN NHTSA NO.: CA5206 Model Year: 2010 Odometer Reading: 66 Miles Make: Nissan Body Style: Passenger Car Model: Altima Body Color: Black Manufacture Date: 9/09 GVWR (kg/lb) 1941 (4279) Price: Leased Dealer: Competitive Vehicle Services LIST OF FMVSS TESTS PERFORMED BY THIS LAB: 126 THERE ARE NO DENTS OR OTHER INTERIOR OR EXTERIOR FLAWS THE VEHICLE HAS BEEN PROPERLY MAINTAINED AND IS IN RUNNING CONDITION THE GLOVE BOX CONTAINS AN OWNER'S MANUAL, WARRANTY DOCUMENT, CONSUMER INFORMATION, AND EXTRA SET OF KEYS PROPER FUEL FILLER CAP IS SUPPLIED ON THE TEST VEHICLE REMARKS: Equipment that is no longer on the test vehicle as noted on Vehicle Arrival Condition Report: None Explanation for equipment removal: NA Test Vehicle Condition: Like New RECORDED BY: J Lenkeit DATE RECORDED: 1/14/2010 APPROVED BY: B Kebschull DATE APPROVED: 1/14/

58 7.4 SINE WITH DWELL TEST RESULTS 2010 Nissan Altima Passenger Car NHTSA No.: CA5206 Date of Test: 1/6/2010 Date Created: 1/6/2010 Lateral Stability Test Series No. 1 Counterclockwise Initial Steer Direction File 5deg Ct MES 5deg COS COS MOS MOS YRR1 YR1 YRR 1 Ct YRR 175 YR 175 YRR 175 Ct 2nd Yaw Peak 2nd Yaw Peak Ct Lat Disp Lat. Acc s 1st SWA Peak 1st SWA Peak Ct 2nd SWA Mean (deg) (mph) (s) (s) (sec) (%) (deg/s) (%) (deg/s) (deg/s) (ft) (g) (deg) (deg)

59 7.4 SINE WITH DWELL TEST RESULTS 2010 Nissan Altima Passenger Car NHTSA No.: CA5206 Date of Test : 1/6/2010 Date Created: 1/6/2010 Lateral Stability Test Series No. 2 Clockwise Initial Steer Direction File 5deg Ct MES 5deg COS COS MO S MOS YRR1 YR1 YRR 1 Ct YRR 175 YR175 YRR17 5 Ct 2nd Yaw Peak 2nd Yaw Peak Ct Lat Disp Lat. Acc s 1st SWA Peak 1st SWA Peak Ct 2nd SWA Mean (deg) (mph) (s) (s) (sec) (%) (deg/s) (%) (deg/s) (deg/s) (ft) (g) (deg) (deg)

60 7.5 SLOWLY INCREASING STEER TEST RESULTS 2010 Nissan Altima Passenger Car NHTSA No.: CA5206 Date of Test : 1/6/2010 Date Created: 1/6/2010 File EventPt DOS MES Mean SPD AYcount_3 THETAENCF_3 AYCG_CD2_3 r_squared ZeroBegin ZeroEnd (mph) (mph) (deg) (g) Averages Scalars Steering Angles (deg) Scalars Steering Angles (deg)

61 7.6 INERTIAL SENSING SYSTEM LOCATION COORDINATES Vehicle: 2010 Nissan Altima Passenger Car NHTSA No.: CA5206 Wheelbase: Inches Faro Arm S/N: U Measurement date: 1/5/2010 Certification date: 8/18/2009 CMM Measurements Coordinate system: SAE (X,Y,Z positive forward, to the right, and downward, respectively) Origin defined at 48" point on lateral arm of measurement fixture, projected onto the ground plane Ref X Ref Y Ref Z M_PLANE001_Ground_Plane M_Line_Y_Axis M_Point_48_Ref M_CIRCLE001_I_Left_Rear_Wheel_Axle M_Point_IMU_side M_Point_ROOF Motion Pak reference point taken from mid height of unit left side Motion Pak Width = 3.05" ==> 1/2 W = Motion_PAK_Location Measurment Notes 1. The Faro arm is positioned just to the left of the vehicle, near the rear door. 2. A "centerline jig" is used in the Faro arm measurement. The jig consists of a long beam with a 4 ft lateral arm that is perpendicular to the beam. The jig is placed on the ground underneath the vehicle with the long beam positioned along the centerline of the vehicle, such that the lateral arm extends to the left, slightly forward of the left rear tire. The lateral arm has a marked indentation point which is located 48.00" from the edge of the centerline beam. 3. The Faro arm is used to make the following meaurements: - Three points on the ground, which establishes the ground plane. - Two points along the lateral arm, and projected onto the ground plane. This establishes the y axis. - One point at the 48 inch reference point on the lateral arm. This establishes the origin. - Three points on the left rear wheel or wheel cover. The Faro arm then computes the center point of the wheel. - One point to establish the height of the highest point on the roof of the vehicle. Coordinate Measurements Calculated for S7D (Matlab Program) Coordinate system: X,Y,Z positive rearward, to the right, and upward, respectively Origin defined as follows: X axis: front axle, Y axis: vehicle centerline, Z axis: ground plane Ref X Ref Y Ref Z Motion_PAK_Location in S7D (Matlab program) coordinate system Calculation Notes: 1. X axis value is the difference between the wheelbase and the calculated distance from the rear axle centerline to the IMU (the value must be positive and less than the wheelbase). 2. Y axis value is (the Y axis offset of the measurement origin in the S7D coordinate system) plus the measured Y axis value (a negative value indicates the IMU is to the left of the vehicle centerline, and a positive value indicates it is to the right) 3. Z axis value is from the ground plane up to the center of the IMU (value must be positive). 57